package com.google.android.apps.skipbot;

public abstract class SkipperMovementSequence extends RobotMovementSequence {

  protected static final int HIP_0 = 15;
  protected static final int SHOULDER_0 = 16;
  protected static final int ELBOW_0 = 17;

  protected static final int HIP_1 = 12;
  protected static final int SHOULDER_1 = 13;
  protected static final int ELBOW_1 = 14;

  protected static final int HIP_2 = 9;
  protected static final int SHOULDER_2 = 10;
  protected static final int ELBOW_2 = 11;

  protected static final int HIP_3 = 6;
  protected static final int SHOULDER_3 = 7;
  protected static final int ELBOW_3 = 8;

  protected static final int HIP_4 = 3;
  protected static final int SHOULDER_4 = 4;
  protected static final int ELBOW_4 = 5;

  protected static final int HIP_5 = 0;
  protected static final int SHOULDER_5 = 1;
  protected static final int ELBOW_5 = 2;

  protected final int sitAngle[] = {
      // Limb 5
      90, // hip 0
      5, // shoulder 1
      55, // elbow 2
      // Limb 4
      90, // hip 3
      5, // shoulder 4
      55, // elbow 5
      // Limb 3
      90, // hip 6
      5, // shoulder 7
      55, // elbow 8
      // Limb 2
      90, // hip 9
      5, // shoulder 10
      55, // elbow 11
      // Limb 1
      90, // hip 12
      5, // shoulder 13
      55, // elbow 14
      // Limb 0
      90, // hip 15
      5, // shoulder 16
      55 // elbow 17
      };

  protected final int STAND_ANGLE = 90;

  protected final int standAngle[] = {
      // Limb 5
      90, // hip 0
      180 - STAND_ANGLE, // shoulder 1
      100, // elbow 2
      // Limb 4
      90, // hip 3
      180 - STAND_ANGLE, // shoulder 4
      100, // elbow 5
      // Limb 3
      90, // hip 6
      180 - STAND_ANGLE, // shoulder 7
      100, // elbow 8
      // Limb 2
      90, // hip 9
      180 - STAND_ANGLE, // shoulder 10
      100, // elbow 11
      // Limb 1
      90, // hip 12
      180 - STAND_ANGLE, // shoulder 13
      100, // elbow 14
      // Limb 0
      90, // hip 15
      180 - STAND_ANGLE, // shoulder 16
      100 // elbow 17
      };

  protected final int highStepAngle[] = {
      // Limb 5
      90, // hip 0
      30, // shoulder 1
      40, // elbow 2
      // Limb 4
      90, // hip 3
      30, // shoulder 4
      40, // elbow 5
      // Limb 3
      90, // hip 6
      30, // shoulder 7
      40, // elbow 8
      // Limb 2
      90, // hip 9
      30, // shoulder 10
      40, // elbow 11
      // Limb 1
      90, // hip 12
      30, // shoulder 13
      40, // elbow 14
      // Limb 0
      90, // hip 15
      30, // shoulder 16
      40 // elbow 17
      };

  protected final SkipperRobotController skipperRobotController;
  protected final SkipperRobotConfigInterface skipperRobotConfig;

  public SkipperMovementSequence(SkipperRobotConfigInterface robotConfig,
      SkipperRobotController robotController) {
    super(robotConfig, robotController);
    this.skipperRobotController = robotController;
    this.skipperRobotConfig = robotConfig;
  }



}
